function X_sat_rot = e_r_corr(traveltime, X_sat)
//E_R_CORR  Returns rotated satellite ECEF coordinates due to Earth
//rotation during signal travel time
//
//X_sat_rot = e_r_corr(traveltime, X_sat);
//
//   Inputs:
//       travelTime  - signal travel time
//       X_sat       - satellite's ECEF coordinates
//
//   Outputs:
//       X_sat_rot   - rotated satellite's coordinates (ECEF)

//Written by Kai Borre
//Copyright (c) by Kai Borre
// Updated and converted to scilab 5.3.0 by Artyom Gavrilov
//
//=============================================================================

  Omegae_dot = 7.292115147e-5;           //  rad/sec

  //--- Find rotation angle --------------------------------------------------
  omegatau   = Omegae_dot * traveltime;

  //--- Make a rotation matrix -----------------------------------------------
  R3 = [ cos(omegatau)    sin(omegatau)   0;
        -sin(omegatau)    cos(omegatau)   0;
         0                0               1];

  //--- Do the rotation ------------------------------------------------------
  X_sat_rot = R3 * X_sat;

//////////////// end e_r_corr.m ////////////////////////////////////////

endfunction
